QR.

src/add_qr.py

@@ -21,6 +21,7 @@ remembered_points = None
 have_points = False
 
 parser = OptionParser()
+parser.add_option ("", "--time-offset", action="store", type="float", dest="time_offset", help="Topic to take image from", default=0.0)
 parser.add_option ("", "--image-topic", action="store", type="string", dest="image_topic", help="Topic to take image from", default="/dji21/camera0/image_raw_orig")
 parser.add_option ("", "--image-frame", action="store", type="string", dest="image_frame", help="Topic to take image from", default="/dji0/camera0/image_frame")
 parser.add_option ("", "--compressed", action="store_true", dest="compressed", help="If true image in is compressed.")
@@ -94,7 +95,7 @@ def image_callback(data):
             # print(json.dumps(jobj))
 
         #look_up_time = rospy.Time(0)
-        look_up_time = data.header.stamp
+        look_up_time = data.header.stamp - rospy.Duration(options.time_offset)
 
         # print("TRANS-ROT:", trans, rot)